Instrument-arm communications in a surgical robotic system

ABSTRACT

A surgical robot comprising a base and an arm extending from a proximal end attached to the base to a distal end attachable to a surgical instrument via a series of links interspersed by articulations. The arm comprises a receiver, a proximity sensor and a controller. The receiver is configured to receive data from the surgical instrument over a short-range wireless communications link with the surgical instrument. The proximity sensor is configured to detect the proximal presence of the surgical instrument. The controller is configured to respond to the proximity sensor detecting the proximal presence of the surgical instrument by enabling the short-range wireless communications link between the receiver and a transmitter of the surgical instrument to be established.

BACKGROUND

It is known to use robots for assisting and performing surgery. FIG. 1illustrates a typical surgical robot 100 which consists of a base 108,an arm 102, and an instrument 105. The base supports the robot, and isitself attached rigidly to, for example, the operating theatre floor,the operating theatre ceiling or a trolley. The arm extends between thebase and the instrument. The arm is articulated by means of multipleflexible joints 103 along its length, which are used to locate thesurgical instrument in a desired location relative to the patient. Thesurgical instrument is attached to the distal end 104 of the robot arm.The surgical instrument penetrates the body of the patient 101 at a port107 so as to access the surgical site. At its distal end, the instrumentcomprises an end effector 106 for engaging in a medical procedure.

FIG. 2 illustrates a typical surgical instrument 200 for performingrobotic laparoscopic surgery. The surgical instrument comprises a base201 by means of which the surgical instrument connects to the robot arm.A shaft 202 extends between base 201 and articulation 203. Articulation203 terminates in an end effector 204. In FIG. 2, a pair of serratedjaws are illustrated as the end effector 204. The articulation 203permits the end effector 204 to move relative to the shaft 202. It isdesirable for at least two degrees of freedom to be provided to themotion of the end effector 204 by means of the articulation.

A surgeon utilises many instruments during the course of a typicallaparoscopy operation. For this reason, it is desirable for theinstruments to be detachable from and attachable to the end of the robotarm mid-operation. The controller of the robot arm needs to know whichinstrument is attached to the robot arm at any given time. It is knownto electrically connect the instrument to the robot arm, and for theinstrument to signal its identity to the robot arm via this electricalconnection. The instrument has an interface which interfaces with theinterface of the robot arm. In this case, the instrument interface haselectrical contacts which connect to corresponding electrical contactsof the robot arm interface. The instrument thus signals its identity tothe robot arm via the electrical interface.

To minimise risk of infection, operating theatres are sterileenvironments. Surgical instruments are sterilised between operations.However, the robot arms are not sterile. In order for a robot arm to beused in an operating theatre, a sterile barrier must be maintainedbetween the robot arm and the rest of the operating theatre. To achievethis, the robot arm is covered in a sterile drape. The instrumentattaches to the robot arm via an interface on the sterile drape. Thesterile drape is a single use item that is disposed of after a singleoperation. Thus, it is desirable to minimise the cost of the steriledrape. For this reason, it is desirable to reduce the complexity of thesterile drape by eliminating the need to incorporate an electricalinterfacing arrangement on it to interface the electrical contacts ofthe instrument interface to the electrical contacts of the robot arminterface.

SUMMARY OF THE INVENTION

According to an aspect of the invention, there is provided a surgicalrobot comprising: a base; and an arm extending from a proximal endattached to the base to a distal end attachable to a surgical instrumentvia a series of links interspersed by articulations, the arm comprising:a receiver configured to receive data from the surgical instrument overa short-range wireless communications link with the surgical instrument;and a proximity sensor configured to detect the proximal presence of thesurgical instrument; and a controller configured to respond to theproximity sensor detecting the proximal presence of the surgicalinstrument by enabling the short-range wireless communications linkbetween the receiver and a transmitter of the surgical instrument to beestablished.

The proximity sensor may comprise a Hall sensor.

The short-range wireless communications link may be a Near FieldCommunications link.

The data may be indicative of the value of one or more parameters of theinstrument. These parameters may comprise a surgical instrument type,surgical instrument identity, surgical instrument usage data, andcontrol data.

The surgical robot may further comprise a data store, and the surgicalrobot may be configured to receive data indicative of the surgicalinstrument identity; store the surgical instrument identity in the datastore; subsequently receive a parameter update indicative of a surgicalinstrument identity and other parameter data; and only store the otherparameter data of the parameter update if the surgical instrumentidentity of the parameter update matches the surgical instrumentidentity in the data store.

The receiver may be comprised within an arm transceiver, and thetransmitter may be comprised within an instrument transceiver.

The controller may, in response to the short-range wirelesscommunications link being established, control the arm transceiver toquery the instrument transceiver over the short-range wirelesscommunications link for the data.

The arm transceiver may periodically send data indicative of surgicalinstrument usage data to the instrument transceiver for storing in aninstrument data store.

The data indicative of surgical instrument usage data may comprise dataindicative of at least one of the total operation time of the surgicalinstrument, the number of uses of the surgical instrument, and theremaining lifetime of the surgical instrument.

The proximity sensor may detect that the surgical instrument has beendetached from the arm, and the controller may respond to the detecteddetachment by controlling the arm transceiver to transmit dataindicative of surgical instrument usage data to the instrumenttransceiver over the short-range wireless communications link.

The controller may only respond to the detected detachment bycontrolling the arm transceiver to transmit data indicative of surgicalinstrument usage data to the instrument transceiver over the short-rangewireless communications link if the controller has not received acommand indicating that the surgical instrument is to be detached fromthe arm.

The controller may prevent manipulation of the surgical instrument ifthe received data indicates that the instrument's lifetime has expired.

The arm may comprise a robot arm interface for mechanically interfacinga surgical instrument interface of the surgical instrument, and theproximity sensor may be located adjacent the robot arm interface.

The surgical robot may further comprise a surgical instrument, thesurgical instrument comprising: a transmitter configured to transmitdata over the short-range wireless communications link to the receiver;and a detectable tag configured to be detectable by the proximitysensor.

The detectable tag may be detectable by a Hall sensor.

The surgical instrument may further comprise a data store configured tostore data indicative of surgical instrument usage data received fromthe arm transceiver.

The surgical instrument may comprise a surgical instrument interface formechanically interfacing the robot arm interface, and the detectable tagmay be located adjacent the surgical instrument interface proximal tothe proximity sensor when the surgical instrument is attached to thearm.

According to a further aspect of the invention, there is provided asurgical robot comprising: a base; and an arm extending from a proximalend attached to the base to a distal end attachable to a surgicalinstrument via a series of links interspersed by articulations, the armcomprising: a receiver configured to receive data from the surgicalinstrument over a short-range wireless communications link with thesurgical instrument; and a proximity sensor configured to detect theproximal presence of the surgical instrument; and a controllerconfigured to respond to the receiver detecting a proximal transmitteroperating according to the short-range wireless communications protocoland the proximity sensor not detecting the proximal presence of thesurgical instrument by issuing an alert that the surgical instrument isnot properly attached to the arm.

The controller may be further configured to respond to the receiverdetecting a proximal transmitter operating according to the short-rangewireless communications protocol and the proximity sensor not detectingthe proximal presence of the surgical instrument by preventingmanipulation of the surgical instrument.

BRIEF DESCRIPTION OF THE FIGURES

The present invention will now be described by way of example withreference to the accompanying drawings. In the drawings:

FIG. 1 illustrates a surgical robot performing a surgical procedure;

FIG. 2 illustrates a known surgical instrument;

FIG. 3 illustrates a surgical robot;

FIG. 4 illustrates schematically circuitry on the robot arm;

FIG. 5 illustrates schematically circuitry on the instrument;

FIG. 6 is a flowchart illustrating a method of reading data from theinstrument;

FIG. 7 is a flowchart illustrating a method of storing data from theinstrument;

FIG. 8 is a flowchart illustrating a method of detecting a sensormalfunction;

FIGS. 9a, 9b, 9c and 9d all illustrate flowcharts of control methods forrecording surgical instrument usage data;

FIG. 10 illustrates a method of writing data to an instrument;

FIG. 11 illustrates a method of changing the mode of a robot arm; and

FIG. 12 illustrates an instrument being brought into engagement with arobot arm.

DETAILED DESCRIPTION

FIG. 3 illustrates a surgical robot having an arm 300 which extends froma proximal end attached to a base 301. The arm comprises a number ofrigid links 302. The links are coupled by revolute joints 303. The mostproximal link 302 a is coupled to the base by joint 303 a. It and theother links are coupled in series by further ones of the joints 303.Suitably, a wrist 304 is made up of four individual revolute joints. Thewrist 304 couples one link (302 b) to the most distal link (302 c) ofthe arm. The most distal link 302 c is at the distal end of the arm andcarries an attachment 305 for a surgical instrument 306. Each joint 303of the arm has one or more motors 307 which can be operated to causerotational motion at the respective joint, and one or more positionand/or torque sensors 308 which provide information regarding thecurrent configuration and/or load at that joint. Suitably, the motorsare arranged proximally of the joints whose motion they drive, so as toimprove weight distribution. For clarity, only some of the motors andsensors are shown in FIG. 3. The arm may be generally as described inour co-pending patent application PCT/GB2014/053523.

The arm terminates in an attachment 305 for interfacing with theinstrument 306. Suitably, the instrument 306 takes the form describedwith respect to FIG. 2. The attachment 305 comprises a drive assemblyfor driving articulation of the instrument. Movable interface elementsof the drive assembly interface mechanically engage correspondingmovable interface elements of the instrument interface in order totransfer drive from the robot arm to the instrument. One instrument isexchanged for another several times during a typical operation. Thus,the instrument is attachable and detachable from the robot arm duringthe operation. Features of the drive assembly interface and theinstrument interface aid their alignment when brought into engagementwith each other, so as to reduce the accuracy with which they need to bealigned by the user.

The instrument 306 comprises an end effector for performing anoperation. The end effector may take any suitable form. For example, theend effector may be smooth jaws, serrated jaws, a gripper, a pair ofshears, a needle for suturing, a camera, a laser, a knife, a stapler, acauteriser, a suctioner. As described with respect to FIG. 2, theinstrument comprises an articulation between the instrument shaft andthe end effector. The articulation comprises several joints which permitthe end effector to move relative to the shaft of the instrument. Thejoints in the articulation are actuated by driving elements, such ascables. These driving elements are secured at the other end of theinstrument shaft to the interface elements of the instrument interface.Thus, the robot arm transfers drive to the end effector as follows:movement of a drive assembly interface element moves an instrumentinterface element which moves a driving element which moves a joint ofthe articulation which moves the end effector.

Controllers for the motors, torque sensors and encoders are distributedwith the robot arm. The controllers are connected via a communicationbus to control unit 309. A control unit 309 comprises a processor 310and a memory 311. Memory 311 stores in a non-transient way software thatis executable by the processor to control the operation of the motors307 to cause the arm 300 to operate in the manner described herein. Inparticular, the software can control the processor 310 to cause themotors (for example via distributed controllers) to drive in dependenceon inputs from the sensors 308 and from a surgeon command interface 312.The control unit 309 is coupled to the motors 307 for driving them inaccordance with outputs generated by execution of the software. Thecontrol unit 309 is coupled to the sensors 308 for receiving sensedinput from the sensors, and to the command interface 312 for receivinginput from it. The respective couplings may, for example, each beelectrical or optical cables, or may be provided by a wirelessconnection. The command interface 312 comprises one or more inputdevices whereby a user can request motion of the end effector in adesired way. The input devices could, for example, be manually operablemechanical input devices such as control handles or joysticks, orcontactless input devices such as optical gesture sensors. The softwarestored in memory 311 is configured to respond to those inputs and causethe joints of the arm and instrument to move accordingly, in compliancewith a pre-determined control strategy. The control strategy may includesafety features which moderate the motion of the arm and instrument inresponse to command inputs. Thus, in summary, a surgeon at the commandinterface 312 can control the instrument 306 to move in such a way as toperform a desired surgical procedure. The control unit 309 and/or thecommand interface 312 may be remote from the arm 300.

FIG. 4 illustrates a schematic diagram of circuitry 400 on the robot arm300 for detecting and communicating with the instrument 306. FIG. 5illustrates a schematic diagram of circuitry 500 on the instrument 306for communicating with the robot arm 300.

Instrument transmitter 501 is configured to transmit data to the robotarm 300. Arm receiver 401 is configured to receive the data transmittedfrom the instrument 306. This data is indicative of the value of one ormore parameters of the instrument. These parameters include one, more orall of the following: instrument type, instrument identity, instrumentusage data, and control data. The control data may include parameters ofthe robot arm drive assembly that the instrument is to adopt. Thecontrol data may include parameters of the instrument that the robot armis to adopt. For example, the control data may include one, more or allof the following: the functions of the drive assembly interfaceelements, the functions of the instrument interface elements, the rangeof travel of the drive assembly interface elements including the maximumand minimum travels, the range of travel of the instrument interfaceelements including the maximum and minimum travels, the neutral/restposition of the drive assembly interface elements, the neutral/restposition of the instrument interface elements, the range of travel ofthe instrument joints including the maximum and minimum travels, and theneutral/rest position of the instrument joints. In one example, the datais a code. The code may be a number code. The value of one or more ofthe parameters of the instrument is embedded within the code. In otherwords, the value of the one or more parameters of the instrument arederivable from the code by analysing the code with an algorithm. Inanother example, the data itself includes the value of one or more ofthe parameters of the instrument. In either example, the data may beencrypted.

Instrument transmitter 501 and arm receiver 401 operate according to thesame short-range wireless communications protocol. For example, they mayoperate according to an RFID (Radio Frequency Identification) protocol.In an exemplary implementation, they communicate according to a protocolthat has a range of less than or the same as 4 cm. The protocol may havea range of less than or the same as 2 cm. The protocol may use NFC (NearField Communication). Utilising a short-range wireless communicationsprotocol as opposed to a wireless communications protocol that is notshort-range reduces the likelihood of the instrument-arm communicationinterfering with other communication links in the operating theatre. Italso reduces the likelihood of those other communication linksinterfering with the instrument-arm communication.

Instrument transmitter 501 may be comprised within a transceiver 502which also comprises an instrument receiver 503. Arm receiver 401 may becomprised within a transceiver 402 which also comprises an armtransmitter 403. Arm transmitter 403 transmits data to the instrument306, and instrument receiver 504 receives this data. The arm transmitter403 and instrument receiver 503 operate according to the sameshort-range communications protocol as the instrument transmitter 501and the arm receiver 401.

Using a wireless communications protocol allows the instrument 306 tocommunicate with the robot arm 300 without having to incorporate anelectrical interfacing arrangement in the sterile drape which interposesthe instrument and arm.

Some operations which it is envisaged may be performed by surgicalrobots require the use of two or more surgical instruments in closeproximity to each other and hence two or more surgical robot arms inclose proximity to each other. It is foreseeable that in utilising ashort-range communications protocol as laid out above, one robot arm maybe within range of an instrument attached to or being brought intoattachment with another robot arm. This may lead to the robot armreceiving data indicative of the value of one or more parameters of aninstrument not attached to it and/or an instrument receiving such datafrom a robot arm it is not attached to.

The robot arm circuitry of FIG. 4 additionally includes a proximitysensor 404. The instrument circuitry of FIG. 5 additionally includes adetectable tag 504. The detectable tag 504 is detectable by theproximity sensor 404. The proximity sensor 404 detects the proximalpresence of the detectable tag 504. The proximity sensor has a shorterrange than the wireless communications protocol of the arm receiver 401and the instrument transmitter 501. The proximity sensor 404 may be oneof a magnetic sensor such as a Hall sensor, a reed switch, an acousticsensor, a capacitive sensor, an inductive sensor and an optical sensor.

In the example that the proximity sensor is a Hall sensor, thedetectable tag 504 is a magnetic tag which is detectable by the Hallsensor. The Hall sensor senses a magnetic field in its vicinity. TheHall sensor detects the proximal presence of the magnetic tag when themagnetic flux density around the sensor exceeds a threshold. When themagnetic flux density around the sensor exceeds a threshold, the Hallsensor generates an output voltage.

The threshold and/or the internal amplification of the Hall sensordetermine the range and sensitivity of the Hall sensor. The thresholdand/or internal amplification of the Hall sensor and the strength of themagnetic tag may be predetermined to cause the Hall sensor (when locatedon the robot arm) to have the range and sensitivity required for itsapplication.

For example, the threshold and/or internal amplification of the Hallsensor and the strength of the magnetic tag may be predetermined tocause the Hall sensor (when located on the robot arm) to detect amagnetic tag on an instrument which is attached to the robot arm, butnot to detect a magnetic tag on an instrument attached to an adjacentrobot arm. The threshold of the Hall sensor and the strength of themagnetic tag may both be predetermined to cause the Hall sensor (whenlocated on the robot arm) to only detect the magnetic tag when theinstrument is engaged with the robot arm. In this case, if theinstrument interface is misaligned with the robot arm interface, orotherwise not properly docked to the robot arm interface, the Hallsensor does not sense the required threshold magnetic flux density, andhence does not generate the output voltage indicating that the magnetictag has been detected.

In another example, the threshold and/or internal amplification of theHall sensor and the strength of the magnetic tag may be predetermined tocause the Hall sensor (when located on the robot arm) to detect amagnetic tag on an instrument which is nearby but not necessarilyattached to the robot arm. For example, the Hall sensor may detect themagnetic tag when they are separated by less than 10 cm. In response tothis detection, the instrument may transmit data indicative of the valueof one or more of its parameters (as described in more detail below).That data is processed by the controller which may output thoseparameter values to a user. In this way, the user may be informed of theparameter values before the instrument is docked on the robot arm. Thisgives the user the opportunity to not engage that specific instrumentwith the robot arm if any of the parameter values indicate that it isnot appropriate for the operation, for example it is the wronginstrument type or does not have enough lifetime left to complete theoperation.

The threshold of the Hall sensor and the strength of the magnetic tagare so as to cause the magnetic tag to be detected by the Hall sensorwhen the magnetic tag is less than 4 cm, preferably less than 1 cm, mostpreferably less than 1 mm from the Hall sensor.

The threshold and/or internal amplification of the Hall sensor and/orthe strength of the magnetic tag may be dynamically adaptable to causethe Hall sensor (when located on the robot arm) to have the range andsensitivity required for its application. The range and sensitivityrequired may be different at different stages. For example, prior toengagement of the instrument and robot arm, it may be desirable for theHall sensor to detect the magnetic tag when their separation is lessthan 10 cm, but once the instrument and robot arm are engaged, it may bedesirable for the Hall sensor to detect the magnetic tag only when theirseparation is less than 1 mm. The threshold and/or internalamplification of the Hall sensor and/or the strength of the magnetic tagmay be dynamically adaptable to change the range and sensitivity forthese changing requirements during the duration of the operation.

Although described with respect to the Hall sensor and magnetic tagexample, the above discussion of range and sensitivity applies to anycombination of proximity sensor and detectable tag.

There may be two proximity sensors on the robot arm, a first whichdetects the detectable tag at a separation of less than 4 cm, and asecond which detects the detectable tag at a separation of less than 1mm. In this example, the first proximity sensor detects when theinstrument is approaching engagement with the arm, and the secondproximity sensor detects when the instrument is properly docked in thearm. If the first proximity sensor detects the detectable tag but thesecond proximity sensor does not detect the tag shortly after, then thatis an indication that the instrument is between 1 mm and 4 cm away froma docked position on the robot arm. In other words, it is an indicationthat the instrument is not properly docked on the robot arm. Forexample, the instrument may be misaligned with the robot arm. Thecontroller may respond to such a scenario by generating a warningsignal. This warning signal may be output from the robot arm, forexample as a warning light or warning sound. Alternatively, the warningsignal may be transmitted to the surgeon console for output there, forexample as a warning light or warning sound. Each of the two proximitysensors may be any one of those previously listed. The two proximitysensors may be of the same type, for example both Hall sensors.Alternatively, the two proximity sensors may be of different types, forexample one a Hall sensor and one an optical sensor. The robot armcircuitry also comprises a controller 405. Controller 405 receives as aninput 406 the output 407 of the proximity sensor 404. Thus, in theexample above, the controller receives the output voltage signal of theHall sensor. The controller also receives as an input 408 the output 409of the receiver 401. The controller outputs control signal 410 to thearm receiver 401 and/or arm transmitter 403. The controller therebycontrols the operation of the arm receiver 401 and/or the armtransmitter 403 in dependence on the output 407 of the proximity sensor.

Controller 405 comprises processor 411, memory 412 and data store 413.Memory 412 stores in a non-transient way software that is executable bythe processor 411 to control the operation of the arm receiver 401and/or the arm transmitter 403 to operate in the manner describedherein. In particular, the software controls the processor 411 to causethe arm receiver to be enabled or disabled. The software may control theprocessor 411 to cause the arm transmitter to transmit data indicativeof the value of one or more parameters of the instrument. For example,the software may control the processor 411 to cause the arm transmitterto transmit a code to the instrument. The software may control theprocessor 411 to generate and send alerts. These actions are controlledin response to the output of the proximity sensor 407, and/or the inputsfrom the sensors 308 and/or the surgeon command interface 312. Datastore 413 may store parameter values of the instrument which thecontroller has derived from the data received from arm receiver 401.Data store 413 may store an indication of whether the instrument isdocked in the arm or not as determined from the output of the proximitysensor 407. Data store 413 may be incorporated within memory 412. Inthis case, memory 412 is logically partitioned into a section for thedata store 413 and a section for storing instructions for execution onprocessor 411. Data store 413 may be incorporated as registers inprocessor 411. Data store 413 may be one or more buffers.

The instrument circuitry also comprises a data store 505. Data store 505stores data indicative of the values of one or more parameters of theinstrument 306. This data may be a code as previously described. Thedata store 505 may store parameter values of the instrument. The data isretrieved from data store 505 to be transmitted by instrumenttransmitter 501.

The following describes several exemplary control methods which may beimplemented using the circuitry described with respect to FIGS. 4 and 5.

FIG. 6 illustrates a flowchart of a first control method. As shown atstep 601, no communication link is initially established between an arm300 and an instrument 306. The controller 405 may have disabled the armreceiver 401 or the arm transceiver 402 from communicating according tothe short-range wireless communications protocol.

At step 602, the proximity sensor 404 detects the instrument and outputsa detection signal to the controller 405. The controller 405 stores anindication in the data store 413 that the instrument is docked in therobot arm.

At step 603, the controller responds to the detection signal by sendinga control signal to the arm receiver 401 or arm transceiver 402 toenable a short-range wireless communications link to be establishedbetween the arm receiver 401 or arm transceiver 402 and the instrumenttransmitter 501 or instrument transceiver 502. For example, the controlsignal may switch the receiving function of the arm receiver 401 on,thereby enabling it to receive data transmitted by the instrumenttransmitter 501. Alternatively, or additionally, the control signal maycause the arm transmitter 403 to request a connection with theinstrument receiver 503. Following this, a short-range wirelesscommunications link is established between the arm and the instrument.

Once the communications link has been established, the controller 405may, at step 604, control the arm transceiver 402 to transmit a query tothe instrument. The query is a request for the instrument to provideparameter data. The request may be for one or more specific dataparameters, such as the instrument's identity or instrument type. Therequest may be for an update of all the parameter data stored by theinstrument. The instrument transceiver 502 receives the request from thearm transceiver 402.

In response to the request, the instrument transceiver 502 retrieves thedata indicative of the requested parameter values from the data store505 and transmits this data to the arm transceiver 402. In the examplein which the instrument stores a code from which the requested parametervalues are derivable, the instrument transceiver responds to the requestby retrieving the code from data store 505 and transmitting this code tothe arm transceiver. Suitably, the values of a plurality of differentparameters are embedded within the same code. Suitably, the values ofall of the requested parameter values are embedded within the same code.Thus, the instrument responds to a request for any one or anycombination of parameter values by transmitting the same code.Alternatively, the instrument may store a plurality of codes, embeddedin each of which is a different parameter value or set of parametervalues. In this case, the instrument responds to a request for aparameter value or combination of parameter values by transmitting thecode or codes in which are embedded the requested parameter values.Alternatively, the instrument may respond to any request for a parametervalue or combination of parameter values by transmitting all the codesstored in the data store, in at least one of which is embedded therequested parameter value(s).

In the example in which the data stored by the instrument includes theparameter value(s) themselves, the instrument transceiver responds tothe request by retrieving the requested parameter values from the datastore and transmitting these parameter values to the arm transceiver.Alternatively, the instrument transceiver may respond to the request byretrieving all the parameter values stored in the data store andtransmitting these to the arm transceiver.

The instrument transceiver may encrypt the data prior to sending it tothe arm transceiver. Alternatively, the instrument may store the data inencrypted form in the data store, and then subsequently send theencrypted data. In either case, the encryption key is known to the robotarm controller 405.

At step 605, the arm transceiver 402 receives the data indicative of therequested parameter values from the instrument. At step 606, thecontroller 405 extracts the requested parameter values from the receiveddata. The controller 405 decrypts the received data if it was encrypted.In the case that the received data is a code in which the parametervalues are embedded, the controller inputs the code to an algorithm inorder to determine the parameter values. The algorithm performs one ormore functions on the code. Each function may determine one or more ofthe requested parameter values. The derived parameter values are thenstored in data store 413 at step 607. In the case that the received datais the requested parameter values, these received parameter values arestored in data store 413.

The controller may cause the arm transceiver to query the instrument fora parameter data update at any time. The instrument responds as detailedabove. This is illustrated in FIG. 6 by the control method looping fromstep 607 around to step 604.

FIG. 7 illustrates a flowchart of a second control method. Acommunication link is established between the arm 300 and instrument306. The instrument transmitter 501 extracts data indicative of theinstrument identity from data store 505 and transmits this to the robotarm. At step 701, the arm receiver 401 receives the data indicative ofthe instrument identity from the instrument transmitter 501. The armreceiver 401 outputs the data indicative of the received instrumentidentity to the controller 405. The controller 405 receives the dataindicative of the instrument identity from the arm receiver 401. Thecontroller extracts the instrument identity from the data indicative ofthe instrument identity as described with respect to FIG. 6, and storesthe instrument identity in data store 413 at step 702.

Subsequently, at step 703, the arm receiver 401 receives a parametervalue update. The parameter value update comprises data indicative of aninstrument identity and other parameter value(s). The arm receiver 401outputs the received parameter value update to the controller 405. Theprocessor 411 receives the parameter value update, and extracts theinstrument identity from the parameter value update as in step 701. Theprocessor 411 reads the stored instrument identity from data store 413.Processor 411 compares the instrument identity from the parameter valueupdate to the stored instrument identity at step 704. If the instrumentidentity from the parameter value update matches the stored instrumentidentity, then at step 705, the processor extracts the other parametervalue or parameter values from the parameter value update and storesthose parameter values in the data store 413. The processor may alsosend the parameter values to control unit 309. Control unit 309 may sendone or more of these parameter values to the surgeon command interface312. The parameter values may be displayed to the surgeon. If theinstrument identity from the parameter value update does not match thestored instrument identity, then at step 706 the processor discards theparameter value(s) in the parameter value update. Optionally, at step707, the processor generates an alert. This alert may be sent to thecontrol unit 309. The control unit 309 may generate an alert on thesurgeon command interface 312. For example, an alert may be displayed tothe surgeon. Following step 705, the method returns to step 703 wherethe arm receives another parameter value update. Following step 706, themethod returns to step 703 where the arm receives another parametervalue update.

Thus, once an instrument has registered its identity with the robot armvia steps 701 and 702, the controller 405 only stores parameter valuesreceived from an instrument having that instrument identity. Thus, evenif the arm receiver 401 is within communications range of anotherinstrument which is not attached to the arm, and receives parametervalues from that other instrument, the controller does not store theseparameter values because the instrument identity associated with thoseparameter values does not match the instrument identity of the attachedinstrument stored in data store 413.

FIG. 8 illustrates a flowchart of a third control method. The armreceiver 401 is operational to receive connection requests and publicbroadcasts according to its short-range wireless communicationsprotocol. In this way, the arm receiver 401 detects a proximaltransmitter operating according to the same short-range wirelesscommunications protocol. In other words, in this way, the arm receiver401 detects a nearby instrument. Meanwhile, the proximity sensor 404 isoperating in a mode in which it only detects the instrument if theinstrument is properly docked in the robot arm.

At step 801, processor 411 analyses the signal output from the armreceiver 401 to determine if the arm receiver 401 detects a nearbyinstrument. Whether the arm receiver 401 has detected a nearbyinstrument or not, the processor 411 goes on to, at steps 802 and 803,analyse the signal output from the proximity sensor 404 to determine ifthe proximity sensor 404 has detected an instrument. The processor 411may, alternatively, analyse the output from the proximity sensor priorto analysing the output from the arm receiver. In other words, theprocessor 411 may perform steps 802/803 prior to step 801.

If the processor 411 determines that the arm receiver 401 has detectedan instrument and the proximity sensor 404 has also detected aninstrument, then the processor does not generate an alert at step 804.If the processor 411 determines that the arm receiver 401 has notdetected an instrument and the proximity sensor 404 has also notdetected an instrument, then the processor does not generate an alert atstep 805.

If the processor 411 determines that the arm receiver 401 has detectedan instrument but the proximity sensor 404 has not detected aninstrument, then the processor generates an alert at step 806. If theprocessor 411 determines that the arm receiver 401 has not detected aninstrument but the proximity sensor 404 has detected an instrument, thenthe processor generates an alert at step 807. In both cases, thecontroller 405 sends the alert to control unit 309 which may then alertthe surgeon command interface 312. The alert may indicate a malfunction.This malfunction may be that the instrument has not properly docked inthe robot arm. Alternatively the malfunction may be that the proximitysensor has failed. The controller 405 or control unit 309 mayadditionally respond to only one of the arm receiver and proximitysensor detecting an instrument by preventing manipulation of thesurgical instrument. The controller 405 or control unit 309 may do thisby disengaging robotic control of the surgical instrument by the surgeoncommand interface 312.

When a Hall sensor fails, it may generate an output voltage in theabsence of a magnetic field or it may not generate an output voltage inthe presence of a magnetic field. To avoid inaccurate sensing, two Hallsensors can be used. If the two Hall sensors read differently, then thatis an indication that one of them is faulty. However, in this method,since the arm receiver 401 also detects a nearby instrument, only oneHall sensor need be used since a fault in the Hall sensor is detectableby the arm receiver 401.

FIGS. 9a, 9b, 9c and 9d all illustrates flowcharts of control methodsfor recording surgical instrument usage data. Surgical instruments aregenerally multiple-use implements. They are sterilised betweenoperations and re-used. However, they do have a lifetime beyond whichthey are not suitable for use. Thus, it is useful for data indicative ofthe usage of the surgical instrument to be stored at the instrument. Acommunication link is established between the arm 300 and instrument306.

In FIG. 9a , the instrument transmitter 501 extracts data indicative ofthe total operation time of the surgical instrument from data store 505and transmits this to the robot arm. At step 901, the arm receiver 401receives the data indicative of the total operation time from theinstrument transmitter 501. The arm receiver 401 outputs this data tothe controller 405. The controller 405 receives this data from the armreceiver 401. The controller 405 extracts the total operation time fromthe data indicative of the total operation time as described withrespect to FIG. 6. The controller 405 then stores the total operationtime in data store 413 at step 902.

The controller 405 also comprises a timer 414. Timer 414 operates underthe control of processor 411. The processor 411 responds to receivingthe data indicative of the total operation time from the arm receiver401 by controlling the timer 414 to start timing at step 903. Thecontroller then operates a control loop. The controller determines if ithas received a command that the instrument is to be detached at step904. If it has not received such a command then it queries the timer 414at step 905 to see if a time T has elapsed since the timer was started.If the result of the query is that a time T has not elapsed, then thecontrol loop returns to step 904 where the controller determines if theinstrument is to be detached. If the instrument is to be detached, thenthe processor 411 extracts the elapsed time since the timer was startedfrom the timer in step 906. If either the instrument is to be detachedor the time T has elapsed, then the processor extracts the stored totaloperation time from the data store 413 at step 907. At step 908, theprocessor determines the total operation time. The total operation timeis the stored total operation time plus the elapsed time. The processorthen writes this total operation time to the data store 413. Theprocessor 414 may also control the arm transmitter 403 to transmit dataindicative of the total operation time at step 909. This data may be acode, embedded in which is the total operation time. For example, thecode may be a number code. Alternatively, the data indicative of thetotal operation time may include the total operation time. The data maybe encrypted prior to transmission. The arm transmitter 403 transmitsthe data indicative of the total operation time. The instrument receiverreceives the data indicative of the total operation time and stores thisin data store 505.

The controller 405 may store a predetermined maximum operation time forthe surgical instrument. On extracting the total operation time at step902, the processor 411 may compare the total operation time to themaximum operation time. If the total operation time exceeds the maximumoperation time, the processor 411 may generate an alert. If the totaloperation time is within a time T′ of the maximum operation time, theprocessor may generate an alert. In either case, the alert is sent tothe control unit 309. The control unit 309 may alert the surgeon commandinterface 312. In addition to the alert, either the controller 405 orthe control unit 309 may prevent manipulation of the surgicalinstrument.

In FIG. 9b , the instrument transmitter 501 extracts data indicative ofthe remaining lifetime of the surgical instrument from data store 505and transmits this to the robot arm. At step 911, the arm receiver 401receives the data indicative of the remaining lifetime from theinstrument transmitter 501. The arm receiver 401 outputs this data tothe controller 405. The controller 405 receives this data from the armreceiver 401. The controller 405 extracts the total operation time fromthe data indicative of the remaining lifetime as described with respectto FIG. 6. The controller 405 then stores the total operation time indata store 413 at step 912.

The processor 411 responds to receiving the data indicative of theremaining lifetime from the arm receiver 401 by controlling the timer414 to start timing at step 913. The controller then operates a controlloop. The controller determines if it has received a command that theinstrument is to be detached at step 914. If it has not received such acommand then it queries the timer 414 at step 915 to see if a time T haselapsed since the timer was started. If the result of the query is thata time T has not elapsed, then the control loop returns to step 914where the controller determines if the instrument is to be detached. Ifthe instrument is to be detached, then the processor 411 extracts theelapsed time since the timer was started from the timer in step 906. Ifeither the instrument is to be detached or the time T has elapsed, thenthe processor extracts the stored remaining lifetime from the data store413 at step 917. At step 918, the processor determines the remaininglifetime. The remaining lifetime is the stored remaining lifetime minusthe elapsed time. The processor then writes this remaining lifetime tothe data store 413. The processor 414 may also control the armtransmitter 403 to transmit data indicative of the remaining lifetime atstep 919. This data may be a code, embedded in which is the remaininglifetime. For example, the code may be a number code. Alternatively, thedata indicative of the remaining lifetime may include the remaininglifetime. The data may be encrypted prior to transmission. The armtransmitter transmits the data indicative of the remaining lifetime. Theinstrument receiver receives the data indicative of the remaininglifetime and stores this in data store 505.

On extracting the remaining lifetime at step 912, the processor 411 maycompare the remaining lifetime to 0. If the remaining lifetime is lessthan or the same as zero, the processor 411 may generate an alert. Ifthe remaining lifetime is within a time T′ of 0, the processor maygenerate an alert. In either case, the alert is sent to the control unit309. The control unit 309 may alert the surgeon command interface 312.In addition to the alert, either the controller 405 or the control unit309 may prevent manipulation of the surgical instrument.

The controller may cause the arm transmitter to periodically transmitdata indicative of usage data to the instrument. For example, thecontroller may cause the arm transmitter to transmit this data every 30seconds, or every minute, or every 5 minutes. The controller mayadditionally cause data to be transmitted to the instrument at any time.For example, the controller may cause data indicative of usage data tobe transmitted to the instrument in response to receiving a command todo so from the control unit 309.

In FIG. 9c , the instrument transmitter 501 extracts data indicative ofthe number of uses of the surgical instrument from data store 505 andtransmits this to the robot arm. At step 921, the arm receiver 401receives the data indicative of the number of uses from the instrumenttransmitter 501. The arm receiver 401 outputs this data to thecontroller 405. The controller 405 receives this data from the armreceiver 401. The controller 405 extracts the number of uses from thedata indicative of the number of uses as described with respect to FIG.6.

The processor generates the number of uses to be the extracted number ofuses plus 1. The processor then controls the transmitter 403 to transmitdata indicative of the number of uses to the instrument. This data maybe a code, embedded in which is the number of uses. For example, thecode may be a number code. Alternatively, the data indicative of thenumber of uses may include the number of uses. The data may be encryptedprior to transmission. The arm transmitter 403 transmits the dataindicative of the number of uses. The instrument receiver receives thedata indicative of the number of uses and stores this in data store 505.The processor 411 may additionally store the number of uses in the datastore 413.

The controller 405 may store a predetermined maximum number of uses forthe surgical instrument. On extracting the number of uses at step 922,the processor 411 may compare the number of uses to the maximum numberof uses. If the number of uses is the same as or exceeds the maximumnumber of uses, the processor 411 may generate an alert. The alert issent to the control unit 309. The control unit 309 may alert the surgeoncommand interface 312. In addition to the alert, either the controller405 or the control unit 309 may prevent manipulation of the surgicalinstrument.

If FIG. 9d , the instrument transmitter 501 extracts data indicative ofthe number of uses left of the surgical instrument from data store 505and transmits this to the robot arm. At step 931, the arm receiver 401receives the data indicative of the number of uses left from theinstrument transmitter 501. The arm receiver 401 outputs this data tothe controller 405. The controller 405 receives this data from the armreceiver 401. The controller 405 extracts the number of uses left fromthe data indicative of the number of uses left as described with respectto FIG. 6.

The processor generates the number of uses left to be the extractednumber of uses left minus 1. The processor then controls the transmitter403 to transmit data indicative of the number of uses left to theinstrument. This data may be a code, embedded in which is the number ofuses left. For example, the code may be a number code. Alternatively,the data indicative of the number of uses left may include the number ofuses left. The data may be encrypted prior to transmission. The armtransmitter 403 transmits the data indicative of the number of usesleft. The instrument receiver receives the data indicative of the numberof uses left and stores this in data store 505. The processor 411 mayadditionally store the number of uses left in the data store 413.

On extracting the number of uses left at step 932, the processor 411 maycompare the number of uses left to 0. If the number of uses left is thesame as or less than 0, the processor 411 may generate an alert. Thealert is sent to the control unit 309. The control unit 309 may alertthe surgeon command interface 312. In addition to the alert, either thecontroller 405 or the control unit 309 may prevent manipulation of thesurgical instrument.

The control methods described with respect to FIGS. 9a, 9b, 9c and 9dmay be used together in any combination. The arm receiver 401 mayreceive data indicative of any combination of the following: totaloperation time, remaining lifetime, number of uses, and number of usesleft. For example, the arm receiver 401 may receive a code in which isembedded a combination of the values of the listed usage dataparameters. The controller 405 may then perform the correspondingmethods described in FIG. 9 for those usage data parameter values. Forexample, the controller may determine that the surgical instrument has aremaining lifetime of 1 hour and 2 uses left. The controller may thenissue an alert if any one of the determined usage data parameter valueswill expire before the end of the scheduled operation. In the exampleabove, the controller would issue an alert if the operation wasscheduled to take longer than 1 hour even through the surgicalinstrument still has 2 uses left.

The robot arm may check the usage data of the instrument prior to theinstrument being attached to the robot arm. The operator may bring theinstrument within range of the short-range communications protocol tothe robot arm, without mounting the instrument on the arm. For example,there may be an arm receiver located towards the base of the robot armthat the operator brings the instrument within range of. The instrumentmay be in sterile packaging at this time. The instrument transmits dataindicative of usage data to the robot arm. The robot arm receives thetransmitted data. The processor extracts and analyses the usage data asdescribed above. If the usage data indicates that the lifetime of theinstrument has expired or that there is insufficient lifetime left tolast for the operation, the processor issues an alert. The alert may bein the form of an indicator on the arm. For example a light or noise onthe arm. In addition to the alert, the controller may also prevent theinstrument from being mounted on the robot arm. For example, thecontroller may prevent the interface of the robot arm from being placedinto an engageable configuration with the instrument.

The usage data may be checked as described in the previous paragraph bya device other than the robot arm. For example a receiver operatingaccording to the short-range communications protocol may be located onan instrument storage rack, or may be a hand-held reader. Since thereceiver does not need to be in contact with the instrument in order toread the usage data, a non-sterile reader comprising the receiver can beused to read usage data from a sterile instrument. For example, duringan operation, a technician could use such a reader to read theinstrument type of an instrument currently in use on the robot arm(using the methods described herein), and then go to an instrumentstorage rack and use the reader (using the methods described herein) tolocate another instrument of the same instrument type for use in theoperation. Such a reader, which also incorporates a transmitter whichoperates according to the short-range communications protocol, could beused during the production process of the instrument. Once theinstrument has been produced and packaged in sterile packaging, aninstrument identity could be written to the instrument wirelessly fromthe transmitter of the reader according to the short-rangecommunications protocol.

FIG. 10 illustrates a flowchart of a further control method. Acommunication link is initially established between an arm 300 and aninstrument 306. At step 1001, the proximity sensor 404 detects theinstrument has been detached from the robot arm and outputs a signal tothe controller 405 accordingly. The processor 411 receives the signalfrom the proximity sensor 404 indicating that the instrument has beendetached from the robot arm. The processor responds by extracting usagedata of the surgical instrument from the data store 413 at step 1002.The processor generates data indicative of the extracted usage data. Theprocessor may encrypt this data. The processor outputs the data to thearm transmitter 403 and controls the arm transmitter 403 to transmit thedata to the instrument. The arm transmitter 403 transmits the data tothe instrument at step 1003 over the short-range wireless communicationslink. The instrument receiver 503 receives the data and writes is todata store 505.

After detecting that the instrument has been detached at step 1001, thecontroller 405 may determine if it has received a command indicatingthat the surgical instrument is to be detached from the robot arm. Ifthis command has been received, the controller may then determine if ithas already controlled the arm transmitter to transmit data indicativeof the usage data to the instrument in response to the command. If ithas already sent data indicative of the usage data, then the controllermay not perform steps 1002 and 1003 of FIG. 10.

This method ensures that data indicative of the usage data is written tothe instrument even if the instrument is removed from the robot armwithout warning. Since the arm transceiver 402 and instrumenttransceiver 502 communicate wirelessly, the robot arm does not need tobe in contact with the instrument in order to transmit the dataindicative of the usage data to the instrument. Thus, an attempt tofraudulently prevent data indicative of the usage data from beingwritten to the instrument by removing it without informing the robot armwill fail because the robot arm responds by immediately writing the dataindicative of the usage data to the instrument using the short-rangewireless communications link.

FIG. 11 illustrates a control method for changing the mode of a robotarm. At step 1101, the robot arm is initially in a compliant mode. In acompliant mode, the robot arm responds to some external forces bydriving the motors to move the joints in the direction of the force.Thus, for example, the robot arm may respond to a person pushing theelbow joint of the robot arm by causing the elbow joint to move in thedirection it was pushed. In a non-compliant mode, the robot arm does notrespond to external forces by causing the robot arm to move.

At step 1102, the arm receiver 401 detects a nearby instrument in themanner previously described. The arm receiver 401 outputs this detectionto the controller 405. The controller 405 responds by determiningwhether the instrument is docked in the robot arm at step 1103. Thecontroller 405 may store an indication of whether the instrument isdocked in the data store 413. Alternatively, the controller may querythe control unit 309 to determine whether the instrument is docked.Either from the data store 413, or the control unit 309, the controller405 receives an indication of whether the instrument is docked in therobot arm. If the instrument is not docked in the robot arm, thecontroller 405 changes the operational mode of the robot arm to anon-compliant mode at step 1104. The method then returns to step 1103.Once the controller has determined that the instrument is docked, itchanges the operational mode of the robot arm back to compliant mode atstep 1105.

This method changes the robot arm to a non-compliant mode whilst aninstrument is being connected to the robot arm. Thus, the robot arm isrigid as the instrument is being mounted to the robot arm, which makesit easier for a person to properly dock the instrument.

Whilst an instrument is docked to the robot arm, the arm receiver 401may detect another instrument. Since an instrument is already docked inthe arm, the controller determines that an instrument is already dockedat step 1103, and hence leaves the robot arm in the compliant mode.Thus, sensing an additional instrument does not cause the controller tochange the robot arm to a non-compliant mode.

Two different robot arms may detect the same instrument at step 1102. Ifthis happens, the control unit 309 determines which robot arm theinstrument is to be docked with, and causes only that robot arm to beput in a non-compliant mode at step 1104. The control unit 309 may dothis by determining which robot arm is receiving the strongest signalover the communications link, and select that robot arm to be the onewhich is put in the non-compliant mode.

FIGS. 6 to 11 all illustrate flowcharts for control methods. It will beunderstood that the steps may be performed in a different order to thatshown. Some steps may be omitted.

The control methods of FIGS. 6 to 11 have been described as beingimplemented by the controller 405. Alternatively, control unit 309 or acombination of control unit 309 and controller 405 may perform thesecontrol methods.

As described with respect to FIG. 3, suitably the robot arm terminatesin a drive assembly. A drive assembly interface engages the instrumentinterface via movable drive assembly interface elements which drivemovable instrument interface elements. FIG. 12 illustrates an exemplarymechanism by which a robot arm 300 engages with an instrument 306. InFIG. 12, instrument 306 is being brought into engagement with robot arm300. Robot arm 300 terminates in drive assembly interface 1202.Instrument 306 terminates in instrument interface 1201. Instrumentinterface elements 1203, 1204 and 1205 are moveable within instrumentinterface 1201. The instrument interface elements are connected todriving elements in the shaft of the instrument. Those driving elementsarticulate joints at the distal end of the instrument. Drive assemblyinterface elements 1206, 1207 and 1208 are moveable within driveassembly interface 1202. The drive assembly interface elements 1206,1207 and 1208 are moveable within drive assembly interface 1202. Thedrive assembly interface elements 1206, 1207 and 1208 are driven byactuators of the robot arm 300. Each drive assembly interface elementengages a respective instrument interface element. Drive assemblyinterface element 1208 engages instrument interface element 1205. Driveassembly interface element 1206 engages instrument interface element1204. Drive assembly interface element 1207 engages instrument interfaceelement 1203.

In an exemplary implementation, the proximity sensor 404 is locatedadjacent the drive assembly interface. The detectable tag 504 is locatedadjacent the surgical instrument interface. The relative locations ofthe proximity sensor 404 and the detectable tag 504 are selected suchthat when the surgical instrument is docked on the arm, the detectabletag 504 is proximal the proximity sensor 404. Thus, the proximity sensordetects the detectable tag when the instrument is docked on the arm. Thelocations of the proximity sensor and the detectable tag may be chosensuch that if the instrument is not properly docked on the arm, theproximity sensor does not detect the detectable tag.

The applicant hereby discloses in isolation each individual featuredescribed herein and any combination of two or more such features, tothe extent that such features or combinations are capable of beingcarried out based on the present specification as a whole in the lightof the common general knowledge of a person skilled in the art,irrespective of whether such features or combinations of features solveany problems disclosed herein, and without limitation to the scope ofthe claims. The applicant indicates that aspects of the presentinvention may consist of any such individual feature or combination offeatures. In view of the foregoing description it will be evident to aperson skilled in the art that various modifications may be made withinthe scope of the invention.

The invention claimed is:
 1. A surgical robot comprising: a base; and anarm having a proximal end and a distal end, the arm extending from theproximal end to the distal end via a series of links interspersed byarticulations, the proximal end of the arm being attached to the baseand the distal end of the arm being attachable to a surgical instrument,the arm comprising: a receiver configured to receive data transmittedfrom the surgical instrument over a short-range wireless communicationslink with the surgical instrument, the short-range wirelesscommunications link using a radio frequency identification protocol; anda proximity sensor configured to detect a proximal presence of adetectable tag on the surgical instrument to the proximity sensor usinga protocol which is different from the protocol used by the short-rangewireless communications link; and a controller configured to respond tothe proximity sensor detecting the proximal presence of the surgicalinstrument by enabling the short-range wireless communications linkbetween the receiver and a transmitter of the surgical instrument to beestablished.
 2. A surgical robot as claimed in claim 1, wherein theproximity sensor comprises a Hall sensor.
 3. A surgical robot as claimedin claim 1, wherein the short-range wireless communications link is aNear Field Communications link.
 4. A surgical robot as claimed in claim1, wherein the data is indicative of the value of one or more parametersof the instrument.
 5. A surgical robot as claimed in claim 4, whereinthe parameters comprise surgical instrument type, surgical instrumentidentity, surgical instrument usage data, and control data.
 6. Asurgical robot as claimed in claim 1, further comprising a data store,the surgical robot configured to: receive data indicative of thesurgical instrument identity; store the surgical instrument identity inthe data store; subsequently receive a parameter update indicative of asurgical instrument identity and other parameter data; and only storethe other parameter data of the parameter update if the surgicalinstrument identity of the parameter update matches the surgicalinstrument identity in the data store.
 7. A surgical robot as claimed inclaim 1, the receiver being comprised within an arm transceiver, and thetransmitter being comprised within an instrument transceiver.
 8. Asurgical robot as claimed in claim 7, wherein the controller isconfigured to, in response to the short-range wireless communicationslink being established, control the arm transceiver to query theinstrument transceiver over the short-range wireless communications linkfor the data.
 9. A surgical robot as claimed in claim 7, wherein the armtransceiver is configured to periodically send data indicative ofsurgical instrument usage data to the instrument transceiver for storingin an instrument data store.
 10. A surgical robot as claimed in claim 9,wherein the data indicative of surgical instrument usage data comprisesdata indicative of at least one of the total operation time of thesurgical instrument, the number of uses of the surgical instrument, andthe remaining lifetime of the surgical instrument.
 11. A surgical robotas claimed in claim 7, wherein the proximity sensor is configured todetect that the surgical instrument has been detached from the arm, andwherein the controller is configured to respond to the detecteddetachment by controlling the arm transceiver to transmit dataindicative of surgical instrument usage data to the instrumenttransceiver over the short-range wireless communications link.
 12. Asurgical robot as claimed in claim 11, wherein the controller isconfigured to only respond to the detected detachment by controlling thearm transceiver to transmit data indicative of surgical instrument usagedata to the instrument transceiver over the short-range wirelesscommunications link if the controller has not received a commandindicating that the surgical instrument is to be detached from the arm.13. A surgical robot as claimed in claim 1, wherein the controller isconfigured to prevent manipulation of the surgical instrument if thereceived data indicates that the instrument's lifetime has expired. 14.A surgical robot as claimed in claim 1, wherein the arm comprises arobot arm interface configured to mechanically interface a surgicalinstrument interface of the surgical instrument, and wherein theproximity sensor is located adjacent the robot arm interface.
 15. Asurgical robot as claimed in claim 1, further comprising a surgicalinstrument, the surgical instrument comprising: a transmitter configuredto transmit data over the short-range wireless communications link tothe receiver; and a detectable tag configured to be detectable by theproximity sensor.
 16. A surgical robot as claimed in claim 15, whereinthe detectable tag is detectable by a Hall sensor.
 17. A surgical robotas claimed in claim 15, the receiver being comprised within an armtransceiver, and the transmitter being comprised within an instrumenttransceiver, wherein the surgical instrument further comprises a datastore configured to store data indicative of surgical instrument usagedata received from the arm transceiver.
 18. A surgical robot as claimedin claim 15, wherein the arm comprises a robot arm interface configuredto mechanically interface a surgical instrument interface of thesurgical instrument, and wherein the proximity sensor is locatedadjacent the robot arm interface, wherein the surgical instrumentcomprises a surgical instrument interface configured to mechanicallyinterface the robot arm interface, and wherein the detectable tag islocated adjacent the surgical instrument interface proximal to theproximity sensor when the surgical instrument is attached to the arm.19. A surgical robot comprising: a base; and an arm having a proximalarm and a distal end, the arm extending from the proximal end to thedistal end via a series of links interspersed by articulations, theproximal end of the arm being attached to the base and the distal end ofthe arm being attachable to a surgical instrument, the arm comprising: areceiver configured to receive data transmitted from the surgicalinstrument over a short-range wireless communications link with thesurgical instrument, the short-range wireless communications link usinga radio frequency identification protocol; and a proximity sensorconfigured to detect a proximal presence of a detectable tag on thesurgical instrument to the proximity sensor using a protocol which isdifferent from the protocol used by the short-range wirelesscommunications link; and a controller configured to respond to thereceiver detecting a proximal transmitter operating according to theshort-range wireless communications protocol and the proximity sensornot detecting the proximal presence of the surgical instrument byissuing an alert that the surgical instrument is not properly attachedto the arm.
 20. A surgical robot as claimed in claim 19, wherein thecontroller is further configured to respond to the receiver detecting aproximal transmitter operating according to the short-range wirelesscommunications protocol and the proximity sensor not detecting theproximal presence of the surgical instrument by preventing manipulationof the surgical instrument.